NDLI: Motion planning for the large space manipulators with complicated dynamics

Content Provider	IEEE Xplore Digital Library
Author	Belousov, I. Esteves, C. Laumond, J.-P. Ferre, E.
Copyright Year	2005
Description	Author affiliation: HP Labs, Moscow, Russia (Belousov, I.)
Abstract	This paper deals with motion planning algorithms for the large space robot manipulators with complicated dynamic behavior. We propose two "two-stage" iterative algorithms, which provide collision-free robot motion taking into account robot's dynamics. The approach is based on new efficient methods for robot manipulator dynamics simulation and probabilistic methods for motion planning in highly cluttered environments. The algorithms are applicable for the robot manipulators of general class with arbitrary kinematics and dynamics parameters. We have demonstrated the approach for a particular task of servicing the satellite by a large space manipulator. This task is one of the most challenging since large space manipulators have extremely complicated dynamic behavior caused by elasticity of their structure, huge payloads they work with and zero-gravity conditions. Experiments involving a 15.5 meters long manipulator carrying a satellite inside a space shuttle with clearance less than 3 cm are presented. Several movies demonstrate the results.
Starting Page	2160
Ending Page	2166
File Size	350724
Page Count	7
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545547
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Orbital robotics Motion planning Iterative algorithms Space shuttles Satellites Robot motion Kinematics Elasticity Payloads Robot dynamics Space robots
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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